JP2021181141A - Charging method and charging system - Google Patents

Abstract

To provide a charging method by which a battery can be charged without moving a robot.SOLUTION: In a charging method for charging a first battery 35 in a charging system 94 including a first robot 9 with a first battery 35 and a first charging vehicle 24 with a second battery 41, the first robot 9 determines whether residual power of the first battery 35 is equal to or less than a first determination value or not; if the residual power of the first battery 35 is equal to or less than the first determination value, a request signal requesting to charge the first battery 35 is transmitted; upon receiving the request signal, the first charging vehicle 24 moves to a location of the first robot 9 and charges the first battery 35 by means of the second battery 41.SELECTED DRAWING: Figure 2

Description

The present invention relates to a charging method and a charging system.

A robot including a battery is disclosed in Patent Document 1. According to it, the robot is equipped with a manipulator and drive wheels. The robot can move autonomously, and when the remaining battery power is low, it will move to the charging station.

Japanese Unexamined Patent Publication No. 2006-231448

However, there is a problem that the robot cannot work while it is moving. Since it takes time for the robot to make a round trip to the charging station, it causes a large work loss. Therefore, a charging method that can charge the battery without the robot moving has been desired.

The charging method is a charging method for charging the first battery in a charging system including a robot having a first battery and a charging vehicle having a second battery, and the robot is the remaining power of the first battery. Determines whether or not is equal to or less than the first determination value, and if the remaining power of the first battery is equal to or less than the first determination value, a request signal requesting charging of the first battery is transmitted, and the charging vehicle receives the charging vehicle. Upon receiving the request signal, the robot moves to the location of the robot and charges the first battery with the second battery.

The charging system includes a robot having a first battery, and a transmission unit that transmits a request signal requesting charging of the first battery when the remaining power of the first battery is equal to or less than the first determination value. It comprises a charging vehicle comprising two batteries, a receiving unit for receiving the request signal, and the charging vehicle moves to the location of the robot and charges the first battery with the second battery.

The schematic diagram which shows the structure of the robot and the charging vehicle which concerns on 1st Embodiment. Schematic diagram for explaining the connection between the robot and the charging vehicle. Schematic diagram for explaining the connection between the charging station and the charging vehicle. Robot electrical control block diagram. Electrical control block diagram of a charging vehicle. Electrical control block diagram of the control device. A flowchart showing a charging method. The flowchart which shows the charging method which concerns on 2nd Embodiment. The flowchart which shows the charging method of the 2nd charging car charging process of step S12.

First Embodiment A charging method related to the first embodiment will be described. As shown in FIG. 1, the factory 1 is divided into a first area 2, a second area 3, and a third area 4. The first region 2 will be described. Since the second region 3 and the third region 4 are the same as the first region 2, the description thereof will be omitted. The shape of the first region 2 is rectangular. The longitudinal direction of the first region 2 is the Y direction. The upper side in the figure is the Y positive direction. The direction orthogonal to the Y direction in the horizontal plane is defined as the X direction. The right side in the figure is the X positive direction. The direction orthogonal to the X direction and the Y direction is defined as the Z direction.

The first region 2 includes a belt conveyor 5 long in the Y direction. The work 6 is placed on the belt conveyor 5. The belt conveyor 5 moves the work 6 from the Y positive direction to the Y negative direction. The supply device 7 is arranged in the Y positive direction of the belt conveyor 5. The feeding device 7 supplies the work 6 on the belt conveyor 5. The recovery device 8 is arranged in the Y negative direction of the belt conveyor 5. The recovery device 8 collects the work 6 that reaches the recovery device 8 on the belt conveyor 5.

The first robots 9 to 10 as robots are arranged along the belt conveyor 5 in the X positive direction of the belt conveyor 5. The first robot 9 to the tenth robot 18 are arranged side by side in numerical order. A workbench 19 is arranged near the first robots 9 to the tenth robot 18. Parts and the like to be installed on the work 6 are placed on the work table 19. The first robot 9 to the tenth robot 18 install parts on the work 6 and share the work of screw tightening.

The first robot 9 to the tenth robot 18 may be a 6-axis robot or a scalar robot, and is not particularly limited. In the present embodiment, for example, the first robot 9 to the tenth robot 18 are 6-axis robots. The first robots 9 to 10 may be robots that can be moved by autonomous traveling. For example, it may be AMR (Outonomous Mobile Robot).

In the X positive direction of the first robot 9 to the tenth robot 18, the first passage line 21, the second passage line 22, and the third passage line 23 are arranged on the floor. The first passage line 21, the second passage line 22, and the third passage line 23 have a first trunk line 21b, a second trunk line 22b, and a third trunk line 23b extending in the Y direction, respectively. The first passage line 21, the second passage line 22, and the third passage line 23 are first branch lines connecting the first trunk line 21b, the second trunk line 22b, and the third trunk line 23b to the first robots 9 to 10 robots 18, respectively. It has 21c, a second branch line 22c, and a third branch line 23c.

A first charging vehicle 24 as a charging vehicle is arranged on the first passage line 21. The charging vehicle is a mobile body that charges the batteries of the first robot 9 to the tenth robot 18. The first charging vehicle 24 moves along the first passage line 21. The first trunk line 21b of the first passage line 21 is provided with a first waiting place 21a at both ends. The first standby place 21a is a place where the first charging vehicle 24 stands by. The first charging vehicle 24 in the figure stands by at the first waiting place 21a in the Y positive direction. The charging vehicle may have other functions in addition to charging the batteries of the first robot 9 to the tenth robot 18. For example, it may serve to carry an object.

The second charging vehicle 25 is arranged on the second passage line 22. The second charging vehicle 25 moves along the second passage line 22. The second trunk line 22b of the second passage line 22 is provided with a second waiting place 22a at both ends. The second standby place 22a is a place where the second charging vehicle 25 stands by. The second charging vehicle 25 in the figure moves on the main line of the second passage line 22.

A third charging vehicle 26 is arranged on the third passage line 23. The third charging vehicle 26 moves along the third passage line 23. The third trunk line 23b of the third passage line 23 is provided with a third waiting place 23a at both ends. The third standby place 23a is a place where the third charging vehicle 26 stands by. The third charging vehicle 26 in the figure is connected to the seventh robot 15. The second charging vehicle 25 and the third charging vehicle 26 have the same functions as the first charging vehicle 24.

Ten robots and three charging vehicles are arranged in the first region 2. The number and arrangement of robots and charging vehicles are not limited. The first robot 9 to the tenth robot 18 each include a battery. The first charging vehicle 24 to the third charging vehicle 26 charge the batteries of the first robot 9 to the tenth robot 18.

The charging station 27 is arranged in the X positive direction of the fifth robot 13. Each of the first charging vehicle 24 to the third charging vehicle 26 includes a battery. The charging station 27 charges the batteries of the first charging vehicle 24 to the third charging vehicle 26.

The first passage line 21 includes a first sub-branch line 21d extending from the first trunk line 21b to the charging station 27. The second passage line 22 includes a second sub-branch line 22d extending from the second trunk line 22b to the charging station 27. The third passage line 23 includes a third sub-branch line 23d extending from the third trunk line 23b to the charging station 27.

Position marks 28 are located near the intersection of the first trunk line 21b and the first branch line 21c, near the intersection of the second trunk line 22b and the second branch line 22c, and near the intersection of the third trunk line 23b and the third branch line 23c. Be placed. Position marks 28 are arranged at equal intervals on the first sub-branch line 21d, the second sub-branch line 22d, and the third sub-branch line 23d. The position mark 28 includes a figure indicating position information. When the first charging vehicle 24 to the third charging vehicle 26 pass the position mark 28, they acquire position information and detect the current position. For example, a QR code (registered trademark) is used for the position mark 28.

The control device 29 is arranged in the X positive direction of the first region 2. The control device 29 controls the operation of the first charging vehicle 24 to the third charging vehicle 26. The control device 29 wirelessly communicates with the first robot 9 to the tenth robot 18 and the first charging vehicle 24 to the third charging vehicle 26. The control device 29 monitors the remaining power of the batteries of the first robot 9 to the tenth robot 18 and the first charging vehicle 24 to the third charging vehicle 26.

As shown in FIG. 2, the first robot 9 includes a gantry 31. A robot main body 32 and a robot control unit 33 are arranged on the gantry 31. The robot control unit 33 includes a first antenna 34, and wirelessly communicates with the first charging vehicle 24 to the third charging vehicle 26 and the control device 29.

The robot main body 32 includes a base B, a first arm 32a, a second arm 32b, a third arm 32c, a fourth arm 32d, a fifth arm 32e, and a sixth arm 32f. An end effector EE is provided on the tip end side of the sixth arm 32f. The robot control unit 33 controls the operation of the first arm 32a to the sixth arm 32f.

The first robot 9 includes a first battery 35, and the first battery 35 is housed inside the gantry 31. The first battery 35 is composed of a main battery 35a and a sub battery 35b. The first connector 36 is arranged on the X positive direction surface of the gantry 31. The first connector 36 is electrically connected to the first battery 35 via the battery switching unit. The robot body 32 is driven by the electric power of the first battery 35. The second robot 10 to the tenth robot 18 as a robot have the same structure as the first robot 9.

The first charging vehicle 24 includes a vehicle body 37. Four motors 38 are installed on the vehicle body 37, and wheels 39 are fixed to the shafts of each motor 38. The vehicle body 37 is a four-wheel drive electric vehicle. The first charging vehicle 24 includes a charging vehicle control unit 40 and a second battery 41 inside the vehicle body 37. The second battery 41 supplies electric power to each motor 38, and the charging vehicle control unit 40 controls the rotation of each motor 38. The charging vehicle control unit 40 controls the rotation direction and the rotation speed of each motor 38, so that the first charging vehicle 24 moves forward, backward, clockwise, and counterclockwise. The vehicle body is not limited to the four-wheel drive electric vehicle, and may be a two-wheel drive electric vehicle. In this case, two motors drive two of the wheels, and the remaining wheels are driven wheels that move passively.

The charging vehicle control unit 40 includes a second antenna 42, and wirelessly communicates with the first robots 9 to 10 robots 18 and the control device 29. The second connector 43 is arranged on the X-negative surface of the vehicle body 37. The second connector 43 is electrically connected to the second battery 41.

The first connector 36 and the second connector 43 can be connected to each other. When the first connector 36 and the second connector 43 are connected to each other, power is transferred between the first battery 35 and the second battery 41. When the main battery 35a supplies power to the robot body 32, the second battery 41 supplies power to the sub-battery 35b. Alternatively, the sub-battery 35b supplies power to the second battery 41. When the sub-battery 35b supplies power to the robot body 32, the second battery 41 supplies power to the main battery 35a. Alternatively, the main battery 35a supplies power to the second battery 41. Therefore, power can be transferred between the first battery 35 and the second battery 41 while the robot body 32 is in operation.

A course sensor 44 is arranged on the bottom surface of the vehicle body 37. The course sensor 44 includes a two-dimensional digital camera. The course sensor 44 detects the first passage line 21 and the position mark 28. The second charging vehicle 25 and the third charging vehicle 26 have the same structure as the first charging vehicle 24, and the description thereof will be omitted.

As shown in FIG. 3, the charging station 27 includes a power supply unit 45 inside. The power supply unit 45 converts the AC voltage into a direct current and adjusts the voltage to charge the second battery 41. The charging station 27 includes a third connector 46 in the X negative direction. The third connector 46 and the second connector 43 can be connected to each other. When the third connector 46 and the second connector 43 are connected, electric power is supplied from the power supply unit 45 to the second battery 41. The first connector 36, the second connector 43, and the third connector 46 include an openable and closable dustproof cover. When the first connector 36, the second connector 43, and the third connector 46 are not connected, the dustproof cover is closed, so that oil mist, dust, and dust are suppressed from adhering to the electric terminals.

The charging station 27 includes a station control unit 47 in the Z positive direction. The station control unit 47 includes a third antenna 48, and wirelessly communicates with the first charging vehicle 24 to the third charging vehicle 26 and the control device 29. The station control unit 47 transmits information on whether or not charging is in progress to the control device 29 and an estimated time required for charging at the time of charging.

As shown in FIG. 4, the robot control unit 33 includes a first CPU 49 (Central Processing Unit) that performs various arithmetic processes as a processor, and a first memory 51 that stores various information. The manipulator drive unit 52, the first communication unit 53, the battery switching unit 54, the main battery 35a and the sub battery 35b are connected to the first CPU 49 via the first input / output interface 55 and the first data bus 56.

The manipulator drive unit 52 is a circuit that drives the first arm 32a to the sixth arm 32f. The manipulator drive unit 52 inputs an instruction signal of the first CPU 49. Then, according to the instruction signal, the manipulator driving unit 52 drives the first arm 32a to the sixth arm 32f. The end effector EE moves by the operation of the first arm 32a to the sixth arm 32f.

The first communication unit 53 communicates with the first charging vehicle 24 to the third charging vehicle 26 and the control device 29. The first communication unit 53 transmits data on the charge amount of the battery and a charge request signal according to the communication protocol.

The battery switching unit 54 switches the battery that supplies electric power to the robot body 32 between the main battery 35a and the sub-battery 35b. The battery switching unit 54 inputs an instruction signal of the first CPU 49, and switches the battery according to the instruction signal. The main battery 35a and the sub-battery 35b include a circuit for detecting the remaining power, and transmit the value of the remaining power to the first CPU 49.

The first memory 51 is composed of a semiconductor memory such as RAM and ROM, and a storage device such as a hard disk. The first memory 51 stores the first program 57 in which the operation control procedure of the robot main body 32 and the like are described. In addition, the first memory 51 stores posture control data 58, which is data for controlling the postures of the first arm 32a to the sixth arm 32f. In addition, the first memory 51 stores the first battery determination data 59. The first battery determination data 59 includes a first determination value which is determination data for determining whether or not it is necessary to charge the first battery 35. In addition, the first memory 51 includes a work area for the first CPU 49, a storage area that functions as a temporary file, and various other storage areas.

The first CPU 49 controls the operation of the robot main body 32 according to the first program 57 stored in the first memory 51. The first CPU 49 has various functional units for realizing the functions. As a specific functional unit, the first CPU 49 has an attitude control unit 61. The attitude control unit 61 controls the movement speed, movement amount, movement position, etc. of the first arm 32a to the sixth arm 32f. The attitude control unit 61 outputs parameters for controlling the robot body 32 to the manipulator drive unit 52. Then, the manipulator driving unit 52 drives the first arm 32a to the sixth arm 32f based on the parameters.

In addition, the first CPU 49 has a first communication control unit 62. The first communication control unit 62 communicates with the first charging vehicle 24 to the third charging vehicle 26 and the control device 29 via the first communication unit 53. The first communication control unit 62 converts the remaining power of the first battery 35 and the charge request signal into a communication data format and outputs the data to the first communication unit 53. The capacity of the first battery 35 and the charge request signal are transmitted to the first charging vehicle 24 to the third charging vehicle 26 and the control device 29 via the first communication unit 53.

In addition, the first CPU 49 has a first battery monitoring unit 63. The first battery monitoring unit 63 monitors the remaining power of the first battery 35. When the remaining power of the first battery 35 is equal to or less than the first determination value, the first battery monitoring unit 63, the first communication control unit 62, and the first communication unit 53 cooperate to control the request signal for charging the first battery 35. It is transmitted to the device 29. The robot control unit 33 of the second robot 10 to the tenth robot 18 has the same structure as the robot control unit 33 of the first robot 9.

The first determination value may be set at a predetermined ratio with respect to the electric power in which the first battery 35 is completely charged. For example, in the present embodiment, the first determination value is set to 20% of the electric power when the first battery 35 is fully charged.

In addition, the first determination value may be set according to the power consumption of the first robot 9, the working time, the specifications of the first robot 9, the time required for charging, and the like. Specifically, since the work content and work time of the first robot 9 are set approximately before the start of work, the power consumption can be estimated. For example, power consumption is calculated based on the weight of the work 6, the transition of the joint angle of each arm, the transition of the angular velocity of the joint, the transition of the acceleration of the joint, and the operating time. Based on the calculation result of the power consumption, the first determination value is set so that the first robot 9 is charged before the remaining battery level becomes insufficient. Then, when the work content is changed, the first determination value is changed.

When the remaining power of the first battery 35 is equal to or less than the first determination value, the attitude control unit 61 may reduce the operating speed of the robot body 32 to delay the speed at which the remaining power of the first battery 35 decreases. The working time of the first robot 9 can be extended.

The transmission unit is composed of the first battery monitoring unit 63, the first communication control unit 62, and the first communication unit 53. The first battery monitoring unit 63 determines the remaining power of the first battery 35. When the first battery monitoring unit 63 determines that the remaining power of the first battery 35 is equal to or less than the first determination value, the first communication control unit 62 and the first communication unit 53 request the charging of the first battery 35. Send a signal.

As shown in FIG. 5, the charging vehicle control unit 40 includes a second CPU 64 that performs various arithmetic processes as a processor, and a second memory 65 that stores various information. The wheel drive unit 66, the second communication unit 67, the second battery 41, and the course sensor 44 are connected to the second CPU 64 via the second input / output interface 68 and the second data bus 69.

The wheel drive unit 66 is a circuit that drives four motors 38. The wheel drive unit 66 inputs an instruction signal of the second CPU 64. Then, according to the instruction signal, the wheel drive unit 66 drives four motors 38. The first charging vehicle 24 is moved by the rotation of the four motors 38.

The second communication unit 67 communicates with the first robots 9 to 10 and the control device 29. The second communication unit 67 transmits the data of the remaining power amount of the second battery 41 according to the communication protocol. The second battery 41 includes a circuit for detecting the remaining power, and transmits the value of the remaining power to the second CPU 64.

The course sensor 44 photographs the first passage line 21 and the position mark 28. The course sensor 44 transmits to the second CPU 64 whether the first passage line 21 is in a straight line state or in a crossed state. In addition, when the position mark 28 is detected, the course sensor 44 transmits the content indicated by the position mark 28 to the second CPU 64.

The second memory 65 is composed of a semiconductor memory such as RAM and ROM, and a storage device such as a hard disk. The second memory 65 stores a second program 71 in which a control procedure for operating the first charging vehicle 24 and the like are described. In addition, the second memory 65 stores the second battery determination data 72. The second battery determination data 72 includes a second determination value and a third determination value. The second determination value is determination data for determining whether or not it is necessary to charge the second battery 41 after supplying electric power to the first battery 35. The third determination value is determination data for determining whether or not it is necessary to charge the second battery 41 before supplying the electric power when the request for supplying the electric power to the first battery 35 is received. In addition, the second memory 65 stores the course data 73. The course data 73 includes data showing the pattern of the first passage line 21. In addition, the second memory 65 includes a work area for the second CPU 64, a storage area that functions as a temporary file, and various other storage areas.

Similar to the first determination value, the second determination value and the third determination value may be set at a predetermined ratio with respect to the electric power when the second battery 41 is fully charged. For example, in the present embodiment, the second determination value and the third determination value are set to 60% of the electric power when the second battery 41 is fully charged.

In addition, the second determination value and the third determination value may be set from the moving distance of the first charging vehicle 24, the time required for movement, the capacity of the second battery 41, the frequency of receiving requests, and the like.

The second CPU 64 controls the operation of the first charging vehicle 24 according to the second program 71 stored in the second memory 65. The second CPU 64 has various functional units for realizing the functions. As a specific functional unit, the second CPU 64 has a wheel control unit 74. The wheel control unit 74 controls rotation, non-rotation, rotation direction, rotation speed, and the like of the four motors 38. The wheel control unit 74 outputs a parameter for controlling each motor 38 to the wheel drive unit 66. Then, the wheel drive unit 66 drives each motor 38 based on the parameters.

In addition, the second CPU 64 has a second communication control unit 75. The second communication control unit 75 communicates with the first robots 9 to 10 robots 18 and the control device 29 via the second communication unit 67. The second communication control unit 75 converts the remaining power of the second battery 41 and the data at the current position into a communication data format and outputs the data to the second communication unit 67. The value of the remaining power of the second battery 41 and the data of the current position are transmitted to the control device 29 via the second communication unit 67.

The receiving unit is composed of the second communication control unit 75 and the second communication unit 67. The second communication control unit 75 and the second communication unit 67 receive the request signal transmitted by the first communication unit 53 of the first robot 9.

In addition, the second CPU 64 has a second battery monitoring unit 76. The second battery monitoring unit 76 monitors the remaining power of the second battery 41. When the remaining power of the second battery 41 is equal to or less than the second determination value, the second battery monitoring unit 76 transmits an instruction signal to the wheel control unit 74 so as to move to the charging station 27.

As shown in FIG. 6, the control device 29 includes a third CPU 77 that performs various arithmetic processes as a processor, and a third memory 78 that stores various information. The third communication unit 79, the input device 81, and the display device 82 are connected to the third CPU 77 via the third input / output interface 83 and the third data bus 84.

The third communication unit 79 communicates with the first robot 9 to the tenth robot 18, the first charging vehicle 24 to the third charging vehicle 26, and the charging station 27. The third communication unit 79 has the remaining power of the first battery 35 of the first robot 9 to the tenth robot 18, the remaining power of the second battery 41 of the first charging vehicle 24 to the third charging vehicle 26, and the charging status of the charging station 27. Receive the data of.

The input device 81 is a device for the operator to input the first determination value, the second determination value, the pattern data of the first passage lines 21 to the third passage line 23, and the like. The input device 81 includes, for example, a joystick, a keyboard, an electrostatic pad, a mouse pad, a push button switch, and the like. The operator operates the input device 81 to input various data.

As the display device 82, a liquid crystal display device, an organic EL (ELECTROLUMINESCE) display device, or the like is used. The display device 82 is a device that displays data and work status regarding the first robot 9 to the tenth robot 18 and the first charging vehicle 24 to the third charging vehicle 26. The operator performs an input operation using the input device 81 with reference to the information displayed on the display device 82.

The third memory 78 is composed of a semiconductor memory such as RAM and ROM, and a storage device such as a hard disk. The third memory 78 stores a third program 85 in which a control procedure for moving the first charging vehicle 24 to the third charging vehicle 26 and the like are described. In addition, the third memory 78 stores the third battery data 86. The third battery data 86 includes the value of the remaining power of the first battery 35 of the first robot 9 to the tenth robot 18 and the value of the remaining power of the second battery 41 of the first charging vehicle 24 to the third charging vehicle 26. Is done.

In addition, the third memory 78 stores the position data 87. The position data 87 includes coordinate data indicating the positions of the first robots 9 to 10 and the coordinate data indicating the positions of the first charging vehicle 24 to the third charging vehicle 26. In addition, the third memory 78 stores the distance data 88. The distance data 88 includes data indicating the respective distances between the first robot 9 to the tenth robot 18 and the first charging vehicle 24 to the third charging vehicle 26.

In addition, the third memory 78 stores the third battery determination data 89. The third battery determination data 89 includes a first determination value, a second determination value, a third determination value, and a fourth determination value. The fourth determination value is a determination value used when determining whether or not the remaining power of the first battery 35 of the robot is abundant. In addition, the third memory 78 includes a work area for the third CPU 77, a storage area that functions as a temporary file, and various other storage areas.

Similar to the first determination value, the fourth determination value may be set at a predetermined ratio with respect to the electric power in which the first battery 35 is completely charged. For example, in the present embodiment, the fourth determination value is set to 80% of the electric power when the first battery 35 is fully charged.

In addition, the fourth determination value may be set according to the power consumption of the first robot 9, the working time, the specifications of the first robot 9, the time required for charging, and the like.

The third CPU 77 controls the charging operation of the first charging vehicle 24 to the third charging vehicle 26 according to the third program 85 stored in the third memory 78. The third CPU 77 has various functional units for realizing the functions. As a specific functional unit, the third CPU 77 has a third battery monitoring unit 91. The third battery monitoring unit 91 receives the request signal transmitted by the first robot 9 to the tenth robot 18. The third battery monitoring unit 91 transfers the request signal to the most suitable charging vehicle among the first charging vehicle 24 to the third charging vehicle 26.

In addition, the third battery monitoring unit 91 collects the value of the remaining power of the first battery 35 of the first robot 9 to the tenth robot 18 and stores it in the third memory 78. The third battery monitoring unit 91 collects the value of the remaining power of the second battery 41 of the first charging vehicle 24 to the third charging vehicle 26 and stores it in the third memory 78. In this way, the control device 29 recognizes the remaining power of the first battery 35 of the first robot 9 to the tenth robot 18.

In addition, the third CPU 77 has a distance monitoring unit 92. The distance monitoring unit 92 collects distance information between each of the first robots 9 to 10 robots 18 and each of the first charging vehicles 24 to the third charging vehicle 26 and stores them in the third memory 78. The distance information related to the first charging vehicle 24 is the distance information when the first charging vehicle 24 moves along the first passage line 21. For example, when receiving a charging request signal from the first robot 9, the third battery monitors information on which of the first charging vehicle 24 to the third charging vehicle 26 is the charging vehicle closest to the first robot 9. It is transmitted to the unit 91.

In addition, the third CPU 77 has a third communication control unit 93. The third communication control unit 93 communicates with the first robot 9 to the tenth robot 18 and the first charging vehicle 24 to the third charging vehicle 26 via the third communication unit 79. The third communication control unit 93 outputs a signal requesting the remaining power of the second battery 41 and the data of the current position to the first charging vehicle 24 via the third communication unit 79. The third communication control unit 93 receives the data transmitted by the first robot 9 to the tenth robot 18 and the first charging vehicle 24 to the third charging vehicle 26 via the third communication unit 79 and stores the data in the third memory 78. do.

The charging system 94 is composed of the first robot 9 to the tenth robot 18, the first charging vehicle 24 to the third charging vehicle 26, the charging station 27, the control device 29, and the like.

Next, the procedure of the charging method in which the first charging vehicle 24 charges the first battery 35 of the first robot 9 will be described with reference to FIG. 7. The procedure for the first charging vehicle 24 to the third charging vehicle 26 to charge the first battery 35 of the first robot 9 to the tenth robot 18 is substantially the same.

Step S1 is a first robot residual power determination step. This step is a step in which the first battery monitoring unit 63 of the first robot 9 determines the remaining power of the first battery 35. The first battery monitoring unit 63 of the first robot 9 determines whether or not the remaining power of the first battery 35 is equal to or less than the first determination value. When the remaining power of the first battery 35 is equal to or less than the first determination value, the process proceeds to step S2. When the remaining power of the first battery 35 exceeds the first determination value, step S1 is continued.

Step S2 is a charging requesting step. In this step, the first communication control unit 62 and the first communication unit 53 of the first robot 9 transmit a request signal requesting charging of the first battery 35 to the control device 29. The third communication control unit 93 of the control device 29 receives the request signal from the first robot 9. Next, the process proceeds to step S3.

Step S3 is a charging vehicle selection step. In this step, the distance monitoring unit 92 of the control device 29 recognizes the position of the first robot 9 and the positions of the first charging vehicle 24 to the third charging vehicle 26. The distance monitoring unit 92 searches for a charging vehicle close to the first robot 9 that transmits a request signal. In the example of FIG. 1, among the first charging vehicle 24 to the third charging vehicle 26, the first charging vehicle 24 is the closest to the first robot 9, and the second charging vehicle 25 is the second closest to the first robot 9. The distance monitoring unit 92 transmits to the third battery monitoring unit 91.

Step S4 is a charging instruction step. In this step, the third communication control unit 93 transmits the request signal to the first charging vehicle 24 close to the first robot 9 that transmits the request signal. The first charging vehicle 24 including the second battery 41 receives the request signal. Next, the process proceeds to step S5.

Step S5 is a first charging vehicle moving step. This step is a step of moving the first charging vehicle 24 to the first robot 9 to be charged. Next, the process proceeds to step S6.

According to this method, the first charging vehicle 24, which is close to the first robot 9 in which the remaining power of the first battery 35 is reduced, moves to charge. The first charging vehicle 24 arrives at the first robot 9 to be charged in a shorter time than when the traveling distance is short. Therefore, the first robot 9 can shorten the time required to charge the first battery 35.

Step S6 is the first robot charging step. This step is a step in which the first charging vehicle 24 charges the first battery 35 of the first robot 9 with the second battery 41. The first battery 35 includes a main battery 35a and a sub-battery 35b. The battery switching unit 54 sets one battery for operating the robot body 32 and the other for charging. For example, the first charging vehicle 24 charges the sub-battery 35b while the main battery 35a supplies electric power to the robot body 32. Next, the battery switching unit 54 sets the sub-battery 35b for operating the robot main body 32. The first charging vehicle 24 charges the main battery 35a while the sub-battery 35b supplies electric power to the robot body 32. In this way, the power supply to the robot main body 32 and the charging to the first battery 35 are performed in parallel. Next, the process proceeds to step S7.

According to the charging method in this charging system, when the remaining power of the first battery 35 of the first robot 9 is small, the first robot 9 first charges the request signal for charging the first battery 35 via the control device 29. Send to car 24. The first charging vehicle 24 receives the request signal and charges the first battery 35. Therefore, the first robot 9 can charge the first battery 35 even if the first robot 9 does not move.

Step S7 is a first charging vehicle residual power determination step. In this step, after the first charging vehicle 24 charges the first battery 35, the second battery monitoring unit 76 of the first charging vehicle 24 determines whether or not the remaining power of the second battery 41 is equal to or less than the second determination value. This is the determination process. When the remaining power of the second battery 41 is equal to or less than the second determination value and the remaining power of the second battery 41 is small, the process proceeds to step S8. When the remaining power of the second battery 41 exceeds the second determination value and the remaining power of the second battery 41 is large, the process proceeds to step S10.

Step S8 is a second charging vehicle moving step. This step is a step of moving the first charging vehicle 24 to the charging station 27. Next, the process proceeds to step S9.

Step S9 is the first charging vehicle charging step. This step is a step in which the first charging vehicle 24 charges the second battery 41 at the charging station 27. The charging station 27 supplies electric power to the second battery 41 of the first charging vehicle 24. Next, the process proceeds to step S10.

According to this method, when the remaining power of the second battery 41 becomes small, the first charging vehicle 24 moves to the charging station 27 to charge the second battery 41. Therefore, the charging vehicle can stand by with the remaining power of the second battery 41 large.

Step S10 is a third charging vehicle moving step. This step is a step of moving the first charging vehicle 24 to the first standby place 21a. By the above steps, the procedure in which the first charging vehicle 24 charges the first battery 35 of the first robot 9 is completed.

The first charging vehicle 24 to the third charging vehicle 26 move to the charging station 27 at any time when the robot's first battery 35 is not being charged and there is room for charging the second battery 41. 2 It is preferable to charge the battery 41. When the first charging vehicle 24 to the third charging vehicle 26 receive the request signal, they can start moving to the robot to charge the first battery 35.

Second Embodiment The difference between this embodiment and the first embodiment is that the first charging vehicle 24 charges the second battery 41 at the charging station 27, and then charges the first battery 35 of the first robot 9. At the point. The same steps as those in the first embodiment are designated by the same reference numerals, and duplicate description will be omitted.

In FIG. 8, steps S1 to S4 are performed in the same manner as in the first embodiment. After step S4, the process proceeds to step S11.

Step S11 is a second charging vehicle residual power determination step. In this step, when the first charging vehicle 24 receives the request signal for charging the first battery 35, the first charging vehicle 24 determines whether or not the remaining power of the second battery 41 is equal to or less than the third determination value. Is. When the remaining power of the second battery 41 is equal to or less than the third determination value and the remaining power of the second battery 41 is small, the process proceeds to step S12. When the remaining power of the second battery 41 exceeds the third determination value and the remaining power of the second battery 41 is large, the process proceeds to step S5.

Step S12 is a second charging vehicle charging step. In this step, when the remaining power of the second battery 41 is equal to or less than the third determination value, the first charging vehicle 24 moves to the charging station 27 to charge the second battery 41. Alternatively, the first charging vehicle 24 is a process of moving to a robot having abundant remaining power to charge the second battery 41. Next, the process proceeds to step S5.

Following steps S11 and S12, steps S5 to S10 are performed in the same manner as in the first embodiment. According to this method, when the remaining power of the second battery 41 is small, the first charging vehicle 24 moves to the charging station 27 to charge the second battery 41. Therefore, the first charging vehicle 24 can charge the first battery 35 of the first robot 9 even when the remaining power is small.

As shown in FIG. 9, steps S13 to S18 are performed in the second charging vehicle charging step of step S12. After step S18, the process proceeds to step S5.

Step S13 is a second robot residual power determination step. In this step, when the remaining power of the second battery 41 of the first charging vehicle 24 is equal to or less than the third determination value, the first charging vehicle 24 sends an inquiry signal inquiring about the robot having a large remaining power of the first battery 35 to the control device 29. Send to.

In the control device 29, the third battery monitoring unit 91 uses the third battery data 86 to search for a robot whose remaining power of the first battery 35 is equal to or greater than the fourth determination value. The control device 29 determines whether or not there is a robot whose remaining power of the first battery 35 is equal to or greater than the fourth determination value.

When there is no robot whose remaining power of the first battery 35 is equal to or more than the fourth determination value and the remaining power of the first battery 35 is small in all robots, the control device 29 has the remaining power of the first battery 35 equal to or more than the fourth determination value. A response signal indicating that there is no robot is transmitted to the first charging vehicle 24. Next, the process proceeds to step S17.

When there is a robot whose remaining power of the first battery 35 is equal to or larger than the fourth determination value, that is, when there is a robot having a large remaining power, the process proceeds to step S14.

Step S14 is a supply robot selection step. In this step, the third battery monitoring unit 91 selects the robot in which the time until the remaining power of the first battery 35 reaches the fourth determination value is estimated to be the longest. The control device 29 transmits a response signal indicating a robot whose remaining power of the first battery 35 is equal to or greater than the fourth determination value to the first charging vehicle 24. The robot shown in this answer signal is the robot estimated to have the longest time until the remaining power reaches the fourth determination value. Then, the first charging vehicle 24 receives the response signal. Next, the process proceeds to step S15.

Step S15 is a fourth charging vehicle moving step. In this step, the first charging vehicle 24 is moved to the robot indicated by the response signal. For example, it is assumed that the robot shown in the response signal is the second robot 10. Next, the process proceeds to step S16.

Step S16 is a third charging vehicle charging step. In this step, the second battery 41 of the first charging vehicle 24 is electrically connected to the first battery 35 of the second robot 10. Then, the first battery 35 of the second robot 10 is a step of charging the second battery 41 of the first charging vehicle 24. Next, the process proceeds to step S5.

According to this method, when the remaining power of the second battery 41 is small, the first charging vehicle 24 charges the power from the second robot 10 including the first battery 35 having a large remaining power. Next, the first charging vehicle 24 charges the first battery 35 of the first robot 9 requested. Therefore, even when it takes time to move to the charging station 27, the first battery 35 of the first robot 9 can be charged in a short time.

Step S17 is a fifth charging vehicle moving step. This step is a step of moving the first charging vehicle 24 to the charging station 27. Next, the process proceeds to step S18.

Step S18 is a fourth charging vehicle charging step. This step is a step in which the first charging vehicle 24 charges the second battery 41 at the charging station 27. The charging station 27 supplies electric power to the second battery 41 of the first charging vehicle 24. Next, the process proceeds to step S5. By the above steps, the procedure in which the first charging vehicle 24 charges the first battery 35 of the first robot 9 is completed.

Third Embodiment This embodiment differs from the first embodiment in that the third communication control unit 93 transmits a request signal to the charging vehicle having the largest remaining power in step S4.

Step S1 and step S2 are performed in the same manner as in the first embodiment. In the charging vehicle selection step of step S3, the third battery monitoring unit 91 of the control device 29 recognizes the remaining power of the second battery 41 of the first charging vehicle 24 to the third charging vehicle 26. The distance monitoring unit 92 searches for the charging vehicle having the largest remaining power of the second battery 41. For example, it is assumed that the remaining power of the second battery 41 of the first charging vehicle 24 is the largest among the first charging vehicle 24 to the third charging vehicle 26. The third battery monitoring unit 91 determines that the first charging vehicle 24 is a charging vehicle including the second battery 41 having the largest remaining power. Next, the process proceeds to step S4.

In the charging instruction step of step S4, the control device 29 transmits a request signal to the first charging vehicle 24 including the second battery 41 having the largest remaining power. Next, the first charging vehicle 24 receives the request signal. Next, the process proceeds to step S5.

In the first charging vehicle moving step of step S5, the first charging vehicle 24 moves to the first robot 9 to be charged. Subsequently, steps S6 to S10 are performed.

According to this method, the first charging vehicle 24, which has a large remaining power of the second battery 41, moves to charge. The first charging vehicle 24 having a large remaining power of the second battery 41 can supply a large amount of power to the first battery 35 as compared with the charging vehicle having a small remaining power of the second battery 41.

Fourth Embodiment In the first embodiment, the first connector 36 of the first robot 9 and the second connector 43 of the first charging vehicle 24 come into contact with each other to charge between the first battery 35 and the second battery 41. I was. Alternatively, the first robot 9 may include a first coil that is electrically connected to the first battery 35, and the first charging vehicle 24 may be provided with a second coil that is electrically connected to the second battery 41. Then, electric power may be transmitted non-contactly between the first coil and the second coil. The first robot 9 and the first charging vehicle 24 may perform wireless power transmission. Power loss due to dirt on the terminals of the first connector 36 and the second connector 43 can be reduced.

Similarly, the charging station 27 may include a third coil. Then, electric power may be transmitted non-contactly between the second coil and the third coil. The charging station 27 and the first charging vehicle 24 may transmit wireless power. Power loss due to dirt on the terminals of the third connector 46 and the second connector 43 can be reduced.

Fifth Embodiment In the first embodiment, the control device 29 receives the request signal transmitted by the first robot 9. Then, the control device 29 selects the charging vehicle and transfers the request signal. Alternatively, the charging vehicle may receive the request signal transmitted by the first robot 9. The rechargeable vehicle among the first charging vehicle 24 to the third charging vehicle 26 may charge the first battery 35 of the first robot 9. Since the control device 29 is not used, the charging system 94 can be easily constructed.

Sixth Embodiment In the first embodiment, a charging vehicle close to the robot that transmitted the request signal charged the battery. In the third embodiment, the charging vehicle having a large remaining power charged the battery. In addition, when the remaining power of the first charging vehicle 24 to the third charging vehicle 26 is small, a charging vehicle close to the charging station 27 may be used.

In addition, when there is a robot having a small remaining power and a large remaining power of the first charging vehicle 24 to the third charging vehicle 26, a charging vehicle close to the robot having a large remaining power may be used. In other words, the charging vehicle, which is close to the robot with large residual power, receives power from the robot with large residual power. Next, the charging vehicle may supply electric power to the robot that has transmitted the request signal.

In addition, when the charging vehicle receives power from a robot with a large remaining power, the charging vehicle uses the power in consideration of the amount of power charged by the charging vehicle and the amount of power consumed by the robot in the scheduled work. The control device 29 may select the robot to be supplied.

Alternatively, when the plurality of robots transmit the request signal to the control device 29, the control device 29 may plan a schedule in which the plurality of charging vehicles charge the plurality of robots.

7th Embodiment In the 1st embodiment, the 1st battery monitoring unit 63 of the 1st robot 9 to the 10th robot 18 monitors the remaining power of the 1st battery 35. In addition, data on the remaining power of the first battery 35 of the first robot 9 to the tenth robot 18 may be periodically transmitted to the control device 29. Then, the control device 29 may monitor the remaining power of the first battery 35 of the first robot 9 to the tenth robot 18. When the remaining power of the first battery 35 of the first robots 9 to 10 robots 18 becomes low, the control device 29 may transmit a request signal to the first charging vehicle 24 to the third charging vehicle 26.

Eighth Embodiment In the first embodiment, the first robot 9 to the tenth robot 18 are robots that do not move autonomously. The first robot 9 to the tenth robot 18 may be an autonomous mobile robot. The first charging vehicle 24 to the third charging vehicle 26 can charge the robot's battery in a shorter time than when the robot moves to the charging station 27 to charge the battery.

Ninth Embodiment In the first embodiment, the first passage line 21, the second passage line 22, and the third passage line 23 are arranged on the floor. In addition, the first charging vehicle 24 to the third charging vehicle 26 may include map information. Then, the first charging vehicle 24 to the third charging vehicle 26 may move using the map information and the position mark 28. At this time, it is preferable that the position mark 28 is also near the first robot 9 to the tenth robot 18.

In addition, the control device 29 may include map information. Then, the first charging vehicle 24 to the third charging vehicle 26 detect the position mark 28 and transmit the information of the position mark 28 to the control device 29. The control device 29 receives the information of the position mark 28 detected from the first charging vehicle 24 to the third charging vehicle 26. The control device 29 may guide the first charging vehicle 24 to the third charging vehicle 26 by using the map information and the information of the position mark 28.

In addition, the first charging vehicle 24 to the third charging vehicle 26 may be equipped with GPS (Global Positioning System). The first charging vehicle 24 to the third charging vehicle 26 transmit the position information to the control device 29. The control device 29 receives the position information from the first charging vehicle 24 to the third charging vehicle 26. The control device 29 includes map information, and may guide the first charging vehicle 24 to the third charging vehicle 26 using the map information and the position information.

Tenth Embodiment In the first embodiment, the first robot 9 to the tenth robot 18, the first charging vehicle 24 to the third charging vehicle 26, the charging station 27, and the control device 29 wirelessly communicate with each other. When the electromagnetic noise in the factory 1 is large, optical communication may be used. Good data communication can be performed.

9 ... 1st robot as a robot, 10 ... 2nd robot as a robot, 24 ... 1st charging vehicle as a charging vehicle, 27 ... charging station, 29 ... control device, 35 ... 1st battery, 41 ... 2nd battery , 53 ... first communication unit as a transmission unit, 62 ... first communication control unit as a transmission unit, 63 ... first battery monitoring unit as a transmission unit, 67 ... second communication unit as a reception unit, 75 ... reception Second communication control unit as a unit, 94 ... Charging system.

Claims (7)

A charging method for charging the first battery in a charging system including a robot having a first battery and a charging vehicle having a second battery.
The robot determines whether or not the remaining power of the first battery is equal to or less than the first determination value.
When the remaining power of the first battery is equal to or less than the first determination value, a request signal requesting charging of the first battery is transmitted.
A charging method characterized in that, when the charging vehicle receives the request signal, it moves to the location of the robot and charges the first battery with the second battery. The charging method according to claim 1.
The control device recognizes the position of the robot and the positions of the plurality of charging vehicles, and the control device recognizes the position of the robot.
The charging method, wherein the control device receives the request signal from the robot and transmits the request signal to the charging vehicle close to the robot that transmits the request signal. The charging method according to claim 1.
The control device recognizes the remaining power of the second battery of the plurality of charging vehicles, and the control device recognizes the remaining power of the second battery.
The charging method, wherein the control device receives the request signal from the robot and transmits the request signal to the charging vehicle including the second battery having the largest remaining power. The charging method according to any one of claims 1 to 3.
After the charging vehicle charges the first battery, the charging vehicle determines whether or not the remaining power of the second battery is equal to or less than the second determination value.
A charging method characterized in that when the remaining power of the second battery is equal to or less than the second determination value, the charging vehicle moves to a charging station to charge the second battery. The charging method according to any one of claims 1 to 3.
When the charging vehicle receives the request signal, the charging vehicle determines whether or not the remaining power of the second battery is equal to or less than the third determination value.
A charging method comprising moving to a charging station to charge the second battery when the remaining power of the second battery is equal to or less than the third determination value. The charging method according to claim 2 or 3.
The control device recognizes the remaining power of the first battery of the plurality of robots, and the control device recognizes the remaining power of the first battery.
When the charging vehicle receives the request signal, the charging vehicle determines whether or not the remaining power of the second battery is equal to or less than the third determination value.
When the remaining power of the second battery is equal to or less than the third determination value, the charging vehicle transmits an inquiry signal for inquiring about the robot having a large remaining power of the first battery to the control device.
The control device transmits a response signal indicating the robot whose remaining power of the first battery is equal to or higher than the fourth determination value to the charging vehicle.
A charging method, wherein the charging vehicle receives the response signal, moves to the robot indicated by the response signal, and charges the second battery. A robot having a first battery and a transmission unit for transmitting a request signal requesting charging of the first battery when the remaining power of the first battery is equal to or less than the first determination value.
A charging vehicle having a second battery, a receiving unit for receiving the request signal, and the like.
A charging system characterized in that the charging vehicle moves to the location of the robot and the first battery is charged by the second battery.

Images